601 lines
22 KiB
JavaScript
601 lines
22 KiB
JavaScript
'use strict';
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Object.defineProperty(exports, "__esModule", { value: true });
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/**
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* 2023-07-16 Clarification
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*
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* Previous versions of this script intermingled and even
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* swapped the usage of the terms 'serial' and 'device'.
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* From here on out, the terms will be used as such:
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*
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* serial - a hardware address of a serial port
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* device - common name of a type of mcopy device (eg. camera,
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* projector, light) that is aliased to a serial port
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*
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**/
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//import Log = require('log');
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const delay_1 = require("delay");
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const { SerialPort } = require('serialport');
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const { ReadlineParser } = require('@serialport/parser-readline');
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const exec = require('child_process').exec;
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const parser = new ReadlineParser({ delimiter: '\r\n' });
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const newlineRe = new RegExp('\n', 'g');
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const returnRe = new RegExp('\r', 'g');
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let eventEmitter;
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let cfg;
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let arduino;
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const KNOWN = [
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'/dev/tty.usbmodem1a161',
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'/dev/tty.usbserial-A800f8dk',
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'/dev/tty.usbserial-A900cebm',
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'/dev/tty.usbmodem1a131',
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'/dev/tty.usbserial-a900f6de',
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'/dev/tty.usbmodem1a141',
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'/dev/ttyACM0',
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'COM3'
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];
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/**
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* Class representing the arduino communication features
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**/
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class Arduino {
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constructor(errorState) {
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this.path = {};
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this.known = KNOWN;
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this.alias = {};
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this.serial = {};
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this.hasState = {};
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this.baud = 57600;
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this.queue = {};
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this.timer = 0;
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this.locks = {};
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this.stateStr = {};
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this.errorState = errorState;
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this.init();
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}
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async init() {
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const Log = require('log');
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this.log = await Log({ label: 'arduino' });
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this.keys = Object.keys(cfg.arduino.cmd);
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this.values = this.keys.map(key => cfg.arduino.cmd[key]);
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}
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/**
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* Enumerate all connected devices that might be Arduinos
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*
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* @async
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* @returns {Promise} Resolves after enumerating
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**/
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async enumerate() {
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let ports;
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let matches = [];
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try {
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ports = await SerialPort.list();
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}
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catch (err) {
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throw err;
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}
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this.log.info('Available ports:');
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this.log.info(ports.map((port) => { return port.path; }).join(','));
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ports.forEach((port) => {
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if (this.known.indexOf(port.path) !== -1) {
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matches.push(port.path);
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}
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else if ((port.manufacturer + '').toLowerCase().indexOf('arduino') !== -1) {
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matches.push(port.path);
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}
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else if ((port.path + '').toLowerCase().indexOf('usbserial') !== -1) {
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matches.push(port.path);
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}
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else if ((port.path + '').toLowerCase().indexOf('usbmodem') !== -1) {
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matches.push(port.path);
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}
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else if ((port.path + '').toLowerCase().indexOf('ttyusb') !== -1) {
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matches.push(port.path);
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}
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});
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if (matches.length === 0) {
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throw new Error('No USB devices found');
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}
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else if (matches.length > 0) {
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return matches;
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}
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}
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/**
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* Send a command to an Arduino using async/await
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*
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* @param {string} device The Arduino device identifier
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* @param {string} cmd Single character command to send
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*
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* @async
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* @returns {Promise} Resolves after sending
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**/
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async sendAsync(device, cmd) {
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return new Promise((resolve, reject) => {
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this.log.info(`sendAsync ${cmd} -> ${device}`);
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this.queue[cmd] = (ms) => {
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return resolve(ms);
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};
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this.log.info(`Device: ${device}`);
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return this.serial[this.alias[device]].write(cmd, (err, results) => {
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if (err) {
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//this.log.error(err)
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return reject(err);
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}
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});
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});
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}
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/**
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* Sends a command to the specified Arduino and waits for a response.
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* Handles the communication lock to prevent sending multiple commands simultaneously.
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* Emits an 'arduino_send' event after successfully sending the command.
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*
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* @async
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* @param {string} device - The Arduino device identifier.
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* @param {string} cmd - The command to be sent to the Arduino.
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* @returns {Promise<boolean|string>} Returns 'false' if the communication is locked, otherwise returns the response from the device.
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* @throws {Error} Throws an error if the sendAsync method encounters an error.
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**/
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async send(device, cmd) {
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const serial = this.alias[device];
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let ms;
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this.log.info(`send ${cmd} -> ${device}`);
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if (this.isLocked(serial)) {
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this.log.warn(`send Serial ${serial} is locked`);
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return null;
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}
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this.timer = new Date().getTime();
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this.lock(serial);
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await delay_1.delay(cfg.arduino.serialDelay);
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try {
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ms = await this.sendAsync(device, cmd);
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}
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catch (e) {
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return this.log.error(e);
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}
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this.unlock(serial);
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await eventEmitter.emit('arduino_send', cmd);
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return ms;
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}
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/**
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* Sends a string to the specified Arduino.
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* Handles different types of devices, including fake devices for testing purposes.
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* Waits for a specified delay before sending the string.
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*
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* @async
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* @param {string} device - The Arduino device identifier.
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* @param {string} str - The string to be sent to the Arduino.
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* @returns {Promise<boolean|string>} Returns 'true' if the string is sent successfully, otherwise returns an error message.
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* @throws {Error} Throws an error if the writeAsync method encounters an error.
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**/
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async sendString(device, str) {
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let writeSuccess;
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await delay_1.delay(cfg.arduino.serialDelay);
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if (typeof this.serial[this.alias[device]].fake !== 'undefined'
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&& this.serial[this.alias[device]].fake) {
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return this.serial[this.alias[device]].string(str);
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}
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else {
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this.log.info(`sendString ${str} -> ${device}`);
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try {
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writeSuccess = await this.writeAsync(device, str);
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}
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catch (e) {
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return this.log.error(e);
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}
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this.unlock(this.alias[device]);
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return writeSuccess;
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}
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}
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/**
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*
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**/
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async stateAsync(device, confirm = false) {
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const cmd = cfg.arduino.cmd.state;
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const serial = confirm ? this.alias['connect'] : this.alias[device];
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return new Promise((resolve, reject) => {
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this.queue[cmd] = (state) => {
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this.stateStr[device] = state;
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if (confirm) {
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this.hasState[device] = true;
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this.log.info(`Device ${device} supports state [${state}]`);
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}
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return resolve(state);
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};
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if (confirm) {
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setTimeout(function () {
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if (typeof this.queue[cmd] !== 'undefined') {
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delete this.queue[cmd];
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this.hasState[device] = false;
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this.log.info(`Device ${device} does not support state`);
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return resolve(null);
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}
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}.bind(this), 1000);
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}
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this.log.info(`stateAsync ${cmd} -> ${device}`);
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return this.serial[serial].write(cmd, (err, results) => {
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if (err) {
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//this.log.error(err)
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return reject(err);
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}
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});
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});
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}
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/**
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*
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**/
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async state(device, confirm = false) {
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const serial = confirm ? this.alias['connect'] : this.alias[device];
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let results;
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if (this.isLocked(serial)) {
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this.log.warn(`state Serial ${serial} is locked`);
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return null;
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}
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this.timer = new Date().getTime();
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this.lock(serial);
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await delay_1.delay(cfg.arduino.serialDelay);
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try {
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results = await this.stateAsync(device, confirm);
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}
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catch (e) {
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return this.log.error(e);
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}
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this.unlock(serial);
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await eventEmitter.emit('arduino_state', cfg.arduino.cmd.state);
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return results;
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}
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/**
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* Send a string to an Arduino using async/await
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*
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* @param {string} device Arduino identifier
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* @param {string} str String to send
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*
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* @returns {Promise} Resolves after sending
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**/
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async writeAsync(device, str) {
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return new Promise((resolve, reject) => {
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this.serial[this.alias[device]].write(str, function (err, results) {
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if (err) {
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return reject(err);
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}
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return resolve(results);
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});
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});
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}
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/**
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* Handles the end of communication with the Arduino.
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* Calculates the time taken for the communication, executes the callback,
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* and emits an 'arduino_end' event. Handles errors and stray data received.
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*
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* @param {string} serial - The serial address of the Arduino device.
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* @param {string} data - The data received from the Arduino.
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* @returns {any} The time taken for the communication in milliseconds.
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**/
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end(serial, data) {
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const end = new Date().getTime();
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const ms = end - this.timer;
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let complete;
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//this.log.info(`end ${serial} -> ${data}`)
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if (this.queue[data] !== undefined) {
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this.unlock(serial);
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complete = this.queue[data](ms); //execute callback
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eventEmitter.emit('arduino_end', data);
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delete this.queue[data];
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}
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else if (data[0] === cfg.arduino.cmd.state) {
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//this.log.info(`end serial -> ${serial}`)
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this.unlock(serial);
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complete = this.queue[cfg.arduino.cmd.state](data);
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eventEmitter.emit('arduino_end', data);
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delete this.queue[cfg.arduino.cmd.state];
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return data;
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}
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else if (data[0] === cfg.arduino.cmd.error) {
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this.log.error(`Received error from device ${serial}`);
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this.unlock(serial);
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this.error(serial, data);
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//error state
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//stop sequence
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//throw error in ui
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}
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else {
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this.log.info('Received stray "' + data + '"'); //silent to user
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}
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return ms;
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}
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error(serial, data) {
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this.log.error("ERROR", data);
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}
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/**
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* Associates an alias with an Arduinos serial address.
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* Used to map multi-purpose devices onto the same serial connection.
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*
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* @param {string} device - The serial number of the target Arduino.
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* @param {string} serial - The alias to be associated with the target device.
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**/
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aliasSerial(device, serial) {
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//this.log.info(`Making "${serial}" an alias of ${device}`)
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this.alias[device] = serial;
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}
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/**
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* Connects to an Arduino using its serial number.
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* Sets up the SerialPort instance and path for the device, and handles data communication.
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* Handles opening the connection and emitting 'arduino_end' or 'confirmEnd' events upon receiving data.
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*
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* @async
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* @param {string} device - The device identifier (common name).
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* @param {string} serial - The serial address of the target Arduino (e.g., COM port on Windows).
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* @param {function} confirm - A callback function to be executed upon receiving confirmation data.
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* @returns {Promise<string>} Resolves with the device path if the connection is successful.
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* @throws {Error} Rejects with an error message if the connection fails.
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**/
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async connect(device, serial, confirm) {
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//this.log.info(`connect device ${device}`)
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//this.log.info(`connect serial ${serial}`)
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return new Promise(async (resolve, reject) => {
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let connectSuccess;
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this.path[device] = serial;
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this.aliasSerial(device, serial);
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this.serial[serial] = new SerialPort({
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path: serial,
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autoOpen: false,
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baudRate: cfg.arduino.baud,
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parser
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});
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this.unlock(serial);
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try {
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connectSuccess = await this.openArduino(device);
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}
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catch (e) {
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this.log.error(`Failed to open ${device} @ ${serial}: ` + e);
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return reject(e);
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}
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this.log.info(`Opened connection with ${this.path[device]} as ${device}`);
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if (!confirm) {
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this.serial[this.alias[device]].on('data', async (data) => {
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let d = data.toString('utf8');
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d = d.replace(newlineRe, '').replace(returnRe, '');
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return this.end(serial, d);
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});
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}
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else {
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this.serial[this.alias[device]].on('data', async (data) => {
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let d = data.toString('utf8');
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d = d.replace(newlineRe, '').replace(returnRe, '');
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return await this.confirmEnd(d);
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});
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}
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return resolve(this.path[serial]);
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});
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}
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/**
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* Handles the confirmation data received from an Arduino.
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* Executes the confirmation callback function if the received data is present in the list of expected values.
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*
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* @param {string} data - The data received from the Arduino.
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**/
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confirmEnd(data) {
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if (this.values.indexOf(data) !== -1 && typeof this.confirmExec === 'function') {
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this.confirmExec(null, data);
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this.confirmExec = {};
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this.unlock(this.alias['connect']);
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}
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else if (data[0] === cfg.arduino.cmd.state) {
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this.queue[cfg.arduino.cmd.state](data);
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delete this.queue[cfg.arduino.cmd.state];
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this.unlock(this.alias['connect']);
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}
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}
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/**
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* Verifies the connection to an Arduino by sending a connect command.
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* The confirmation callback checks if the received data matches the expected connect command.
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*
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* @async
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* @returns {Promise<boolean>} Resolves with 'true' if the connection is verified successfully.
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* @throws {Error} Rejects with an error message if the connection verification fails.
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**/
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async verify() {
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return new Promise(async (resolve, reject) => {
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const device = 'connect';
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let writeSuccess;
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this.confirmExec = function (err, data) {
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if (data === cfg.arduino.cmd.connect) {
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return resolve(true);
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}
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else {
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return reject('Wrong data returned');
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}
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};
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await delay_1.delay(cfg.arduino.serialDelay);
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try {
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writeSuccess = await this.sendAsync(device, cfg.arduino.cmd.connect);
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}
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catch (e) {
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return reject(e);
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}
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return resolve(writeSuccess);
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});
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}
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/**
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* Distinguishes the type of Arduino connected.
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* Sends a command to the device to identify its type and resolves the promise with the received type.
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*
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* @async
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* @returns {Promise<string>} Resolves with the type of the connected Arduino-based device.
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* @throws {Error} Rejects with an error message if the distinguish operation fails.
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**/
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async distinguish() {
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return new Promise(async (resolve, reject) => {
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const device = 'connect';
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let writeSuccess;
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let type;
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this.confirmExec = function (err, data) {
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if (data === cfg.arduino.cmd.projector_identifier) {
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type = 'projector';
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}
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else if (data === cfg.arduino.cmd.camera_identifier) {
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type = 'camera';
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}
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else if (data === cfg.arduino.cmd.light_identifier) {
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type = 'light';
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}
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else if (data === cfg.arduino.cmd.projector_light_identifier) {
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type = 'projector,light';
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}
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else if (data === cfg.arduino.cmd.projector_camera_light_identifier) {
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type = 'projector,camera,light';
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}
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else if (data === cfg.arduino.cmd.projector_camera_identifier) {
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type = 'projector,camera';
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}
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else if (data === cfg.arduino.cmd.projector_second_identifier) {
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type = 'projector_second';
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}
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else if (data === cfg.arduino.cmd.projectors_identifier) {
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type = 'projector,projector_second';
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}
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else if (data === cfg.arduino.cmd.camera_second_identifier) {
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type = 'camera_second';
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}
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else if (data === cfg.arduino.cmd.cameras_identifier) {
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type = 'camera,camera_second';
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}
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else if (data === cfg.arduino.cmd.camera_projectors_identifier) {
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type = 'camera,projector,projector_second';
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}
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else if (data === cfg.arduino.cmd.cameras_projector_identifier) {
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type = 'camera,camera_second,projector';
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}
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else if (data === cfg.arduino.cmd.cameras_projectors_identifier) {
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type = 'camera,camera_second,projector,projector_second';
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}
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else if (data === cfg.arduino.cmd.capper_identifier) {
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type = 'capper';
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}
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else if (data === cfg.arduino.cmd.camera_capper_identifier) {
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type = 'camera,capper';
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}
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else if (data === cfg.arduino.cmd.camera_capper_projector_identifier) {
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type = 'camera,capper,projector';
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}
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else if (data === cfg.arduino.cmd.camera_capper_projectors_identifier) {
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type = 'camera,capper,projector,projector_second';
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}
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return resolve(type);
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};
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await delay_1.delay(cfg.arduino.serialDelay);
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try {
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writeSuccess = await this.sendAsync(device, cfg.arduino.cmd.mcopy_identifier);
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this.log.info(writeSuccess);
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}
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catch (e) {
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return reject(e);
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}
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});
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}
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/**
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* Closes the connection to an Arduino.
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*
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* @async
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* @returns {Promise<boolean>} Resolves with 'true' if the connection is closed successfully.
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* @throws {Error} Throws an error if the closeArduino method encounters an error.
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**/
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async close() {
|
|
const device = 'connect';
|
|
let closeSuccess;
|
|
try {
|
|
closeSuccess = await this.closeArduino(device);
|
|
}
|
|
catch (e) {
|
|
throw e;
|
|
}
|
|
return closeSuccess;
|
|
}
|
|
/**
|
|
* Establishes a fake connection to an Arduino for testing purposes.
|
|
* Creates a fake SerialPort instance with custom write and string methods.
|
|
*
|
|
* @async
|
|
* @param {string} serial - The device identifier of the fake Arduino.
|
|
* @returns {Promise<boolean>} Resolves with 'true' if the fake connection is established successfully.
|
|
**/
|
|
async fakeConnect(device) {
|
|
const serial = '/dev/fake';
|
|
this.aliasSerial(device, serial);
|
|
this.serial[serial] = {
|
|
write: async function (cmd, cb) {
|
|
const t = {
|
|
c: cfg.arduino.cam.time + cfg.arduino.cam.delay,
|
|
p: cfg.arduino.proj.time + cfg.arduino.proj.delay,
|
|
A: 180,
|
|
B: 180
|
|
};
|
|
let timeout = t[cmd];
|
|
if (typeof timeout === 'undefined')
|
|
timeout = 10;
|
|
arduino.timer = +new Date();
|
|
await delay_1.delay(timeout);
|
|
arduino.end(serial, cmd);
|
|
return cb();
|
|
},
|
|
string: async function (str) {
|
|
//do nothing
|
|
return true;
|
|
},
|
|
fake: true
|
|
};
|
|
//this.log.info('Connected to fake arduino! Not real! Does not exist!')
|
|
return true;
|
|
}
|
|
/**
|
|
* Connect to an Arduino using async/await
|
|
*
|
|
* @param {string} device Arduino identifier
|
|
*
|
|
* @returns {Promise} Resolves after opening
|
|
**/
|
|
async openArduino(device) {
|
|
return new Promise((resolve, reject) => {
|
|
return this.serial[this.alias[device]].open((err) => {
|
|
if (err) {
|
|
return reject(err);
|
|
}
|
|
return resolve(true);
|
|
});
|
|
});
|
|
}
|
|
/**
|
|
* Close a connection to an Arduino using async/await
|
|
*
|
|
* @param {string} device Arduino identifier
|
|
*
|
|
* @returns {Promise} Resolves after closing
|
|
**/
|
|
async closeArduino(device) {
|
|
return new Promise((resolve, reject) => {
|
|
return this.serial[this.alias[device]].close((err) => {
|
|
if (err) {
|
|
return reject(err);
|
|
}
|
|
return resolve(true);
|
|
});
|
|
});
|
|
}
|
|
lock(serial) {
|
|
//this.log.info(`Locked serial ${serial}`)
|
|
this.locks[serial] = true;
|
|
}
|
|
unlock(serial) {
|
|
//this.log.info(`Unlocked serial ${serial}`)
|
|
this.locks[serial] = false;
|
|
}
|
|
isLocked(serial) {
|
|
return typeof this.locks[serial] !== 'undefined' && this.locks[serial] === true;
|
|
}
|
|
}
|
|
if (typeof module !== 'undefined' && module.parent) {
|
|
module.exports = function (c, ee, errorState) {
|
|
eventEmitter = ee;
|
|
cfg = c;
|
|
arduino = new Arduino(errorState);
|
|
return arduino;
|
|
};
|
|
}
|
|
//# sourceMappingURL=index.js.map
|